The kobuki base on your own won't drift, so it is sensible which the tilted inertia causes the drift. Naturally I am able to hack my URDF with a weightless superstructure, but I wanted to resolve this in a more reasonable way. I tried all I can think about, and https://www.uk-exhibitionstands.co.uk/product/air-inflatable-backlit-square-tower-3m-3200mm-h/